CN102608632A - Beidou satellite GPS dual-mode cloud differential positioning method and system - Google Patents
Beidou satellite GPS dual-mode cloud differential positioning method and system Download PDFInfo
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Abstract
The invention relates to a satellite navigation positioning system, in particular to a Beidou satellite GPS dual-mode cloud differential positioning method and system. The Beidou satellite GPS dual-mode cloud differential positioning method comprises the following steps: each datum cloud end provides datum data for a system control center, wherein the datum cloud end is carried with a Beidou satellite GPS dual-mode receiver according with the location precision requirement; the system control center preprocesses the received datum data; when the positioning precision is insufficient, a common cloud end sends a differential positioning request to the system control center, wherein the common cloud end is carried with a single-mode single-frequency receiver or is not carried with a Beidou satellite GPS dual-mode receiver which does not accord with the positioning precision requirement; the system control center selects reasonable differential data and sends the reasonable differential data to the common cloud end; and the common cloud end carries out positioning according to the received differential data. The invention is applied to satellite navigation positioning.
Description
Technical field
The present invention relates to satellite navigation and location system, be specifically related to Big Dipper GPS bimodulus cloud difference localization method and system.
Background technology
Single frequency receiving can't accurately be estimated troposphere time-delay, atmospheric envelope time-delay and the multipath effect of satellite-signal or eliminate error at present, and these errors can have a strong impact on bearing accuracy when constellation is unreasonable.
In order to eliminate or to reduce these errors, in the location, use calculus of differences usually.Difference location is gordian technique in the high precision satnav, also be simultaneously to solve business location to use, the service of enhanced positioning navigation product as: the crucial requirement that the management of dangerous material vehicle transport, public transport fixed point are called out the stops and reported to the police etc.About improving bearing accuracy; Existing technology can overcome various signal delay effects based on standard base station difference location; Obtain more satisfactory bearing accuracy; But there is following shortcoming in the differential position that is based on the base station: 1, a large amount of expenses are dropped in the standard base station, reach is limited, and a standard base station can only play a role in the 100KM scope; 2, the domestic limited amount in GPS standard base station, and Big Dipper positioning system does not have the standard base station at present disclosed difference positioning service is provided.
Summary of the invention
Technical matters to be solved by this invention is; A kind of Big Dipper GPS bimodulus cloud difference localization method and system are provided; Utilize the high in the clouds of numerous lift-launch Big Dipper GPS dual mode receivers, analyze and its approximate standard base station of mutual demonstration validation, output difference information through the Big Dipper and GPS good location accuracy; For other receiver user in the cloud network's coverage area provides the difference location, improve bearing accuracy.
In order to solve the problems of the technologies described above; The technical scheme that the present invention adopted is; A kind of Big Dipper GPS bimodulus cloud difference localization method; May further comprise the steps: each benchmark high in the clouds provides reference data to System Control Center, and said benchmark high in the clouds is the lift-launch Big Dipper GPS dual mode receiver that meets positioning accuracy request; System Control Center carries out pre-service to the reference data of receiving; When common high in the clouds when bearing accuracy is not enough, send the difference Location Request to System Control Center, said common high in the clouds is the lift-launch Big Dipper GPS dual mode receiver that carries the single mode single frequency receiving or do not meet positioning accuracy request; System Control Center is chosen rational differential data, sends to common high in the clouds; This common high in the clouds positions according to the differential data that receives.
Further, when common high in the clouds when bearing accuracy is not enough, send the difference Location Request to System Control Center, System Control Center is chosen rational differential data, sends to this common high in the clouds, specifically may further comprise the steps:
Step 1: when common high in the clouds when bearing accuracy is not enough, send the difference Location Request to System Control Center, System Control Center obtains asking the initial alignment position in the common high in the clouds of difference location, is labeled as the starting point in search benchmark high in the clouds;
Step 2: System Control Center is searched in the pseudo range difference information table, when finding the benchmark high in the clouds of satisfying all search conditions simultaneously, then with this benchmark high in the clouds as Candidate Set, forward step 3 to; Otherwise forward step 4 to;
Step 3: the nearest benchmark high in the clouds of chosen distance from Candidate Set, read pseudo range difference information, and this information is sent to the common high in the clouds that the request difference is located, forward step 5 to;
Step 4: replying of " no difference information " sent in the common high in the clouds to request difference location, forwards step 5 to;
Step 5: System Control Center Updates Information: information submission time and current time data recording far away in the deleted data table, the newer differential data of submitting to of new record.
Further, the search condition in the above-mentioned steps two is: for position, benchmark high in the clouds, the starting point in the search benchmark high in the clouds that obtains with step 1 is the center of circle, and search radius is the high in the clouds record in the 10KM scope; For the information submission time, the difference of search information submission time and current time is less than the record of network delay; For pseudo range difference information, searching for constellation comprises the benchmark high in the clouds of request high in the clouds constellation.
Further, in the above-mentioned steps, benchmark high in the clouds is the lift-launch Big Dipper GPS dual mode receiver that meets positioning accuracy request, and the data processing step in said benchmark high in the clouds is following:
Step 1: the Big Dipper receiver of Big Dipper GPS dual mode receiver and GPS receiver independently obtain positioning result separately;
Step 2: by Big Dipper receiver and GPS receiver observing matrix compute location geometric dilution of precision GDOP separately; As geometric dilution of precision GDOP during all less than setting threshold; Think that this high in the clouds bearing accuracy meets the requirements; Get the minimum positioning result of geometric dilution of precision GDOP and send to the common high in the clouds of request difference location, and forward step 3 to; When one of them geometric dilution of precision GDOP value of Big Dipper receiver and GPS receiver greater than setting threshold, another one geometric dilution of precision GDOP value during less than threshold value; Get geometric dilution of precision GDOP and send to the common high in the clouds of request difference location, return step 1 less than the positioning result of threshold value; As the geometric dilution of precision GDOP of Big Dipper receiver and GPS receiver during all greater than threshold value, this Big Dipper GPS dual mode receiver is regarded as and common high in the clouds;
Step 3: calculate the difference of Big Dipper positioning result and GPS positioning result,, then think this reception function, get into step 4, otherwise return step 1 as a reliable benchmark high in the clouds if less than setting threshold; Wherein this setting threshold is 10M;
Step 4: the difference locator data is sent to System Control Center in benchmark high in the clouds, and this difference locator data comprises that positioning result, constellation information, pseudo range observed quantity, local receiver clock waft and submission time, return step 1.
Further, said common high in the clouds is the lift-launch Big Dipper GPS dual mode receiver that carries the single mode single frequency receiving or do not meet positioning accuracy request, and the data processing step in said common high in the clouds is following:
Step 1: carry the single mode single frequency receiving and obtain positioning result, and the Big Dipper receiver and the GPS receiver that do not meet the lift-launch Big Dipper GPS dual mode receiver of positioning accuracy request independently obtain positioning result separately;
Step 2: by observing matrix compute location geometric dilution of precision GDOP; As geometric dilution of precision GDOP during less than setting threshold; Think that this receiver self poisoning precision meets the requirements, positioning result is sent to the common high in the clouds that the request difference is located, return step 1; Otherwise submit the difference Location Request to System Control Center;
Step 3:, then return step 1 if System Control Center returns replying of " no difference information "; Otherwise receive the difference locator data, and adopt difference observation equation group to try to achieve the distance vector in this common high in the clouds and benchmark high in the clouds;
Step 4: utilize from the position in the benchmark high in the clouds that System Control Center is received and add the distance vector that step 3 is tried to achieve, obtain current exact position, send to the common high in the clouds of request difference location, return step 1.
A kind of Big Dipper GPS bimodulus cloud differential position system of using above-mentioned Big Dipper GPS bimodulus cloud difference localization method comprises:
Benchmark high in the clouds is made up of the lift-launch Big Dipper GPS dual mode receiver that meets positioning accuracy request,
Common high in the clouds, the lift-launch Big Dipper GPS dual mode receiver that is not perhaps met positioning accuracy request by lift-launch single mode single frequency receiving is formed,
System Control Center, the communicator that the data processor that comprises the data-carrier store of Memory Reference data, the reference data that receives is handled, control benchmark high in the clouds, common high in the clouds and System Control Center carry out communication,
Said System Control Center is set up data through communicator and benchmark high in the clouds and common high in the clouds and is got in touch.
Further, above-mentioned communicator is GPRS network communication module or 3G network communication module.
The present invention uses said method and system, compared with prior art, has the following advantages:
1. the present invention utilizes the high in the clouds of carrying Big Dipper GPS dual mode receiver, analyzes and its approximate standard base station of mutual demonstration validation, output difference information through the Big Dipper and GPS good location accuracy.Through the high in the clouds data sharing, can make near common high in the clouds, benchmark high in the clouds utilize the differential data in benchmark high in the clouds to improve bearing accuracy.This method has shortened positioning time, has improved locating speed;
2. among the present invention because benchmark high in the clouds self also is the user simultaneously, and differential networks generates along with user distribution naturally, neither need build the cost of traditional base station, has enlarged the coverage of difference network for location again;
3. utilize method of the present invention; The benchmark high in the clouds user of the lift-launch dual mode receiver of early investment some, under the stable condition of the network coverage, the later stage only needs the single mode single frequency receiving that input cost is lower in network so; Just can guarantee good bearing accuracy, practice thrift operation cost.
Description of drawings
Fig. 1 is the structural representation of Big Dipper GPS bimodulus cloud differential position system of the present invention.
Embodiment
Combine accompanying drawing and embodiment that the present invention is further specified at present.
A kind of Big Dipper GPS of the present invention bimodulus cloud difference localization method, may further comprise the steps: each benchmark high in the clouds provides reference data to System Control Center, and said benchmark high in the clouds is the lift-launch Big Dipper GPS dual mode receiver that meets positioning accuracy request; System Control Center carries out pre-service to the reference data of receiving; When common high in the clouds when bearing accuracy is not enough, send the difference Location Request to System Control Center, said common high in the clouds is the lift-launch Big Dipper GPS dual mode receiver that carries the single mode single frequency receiving or do not meet positioning accuracy request; System Control Center is chosen rational differential data, sends to common high in the clouds; This common high in the clouds positions according to the differential data that receives.
Further, when common high in the clouds when bearing accuracy is not enough, send the difference Location Request to System Control Center, System Control Center is chosen rational differential data, sends to this common high in the clouds, specifically may further comprise the steps:
Step 1: when common high in the clouds when bearing accuracy is not enough, send the difference Location Request to System Control Center, System Control Center obtains asking the initial alignment position in the common high in the clouds of difference location, is labeled as the starting point in search benchmark high in the clouds;
Step 2: System Control Center is searched in the pseudo range difference information table, and search condition is: for position, benchmark high in the clouds, the starting point in the search benchmark high in the clouds that obtains with step 1 is the center of circle, and search radius is the high in the clouds record in the 10KM scope; For the information submission time, the difference of search information submission time and current time is less than the record of network delay; For pseudo range difference information, searching for constellation comprises the benchmark high in the clouds of request high in the clouds constellation; When finding the benchmark high in the clouds of satisfying above-mentioned three search conditions simultaneously, then with this benchmark high in the clouds as Candidate Set, forward step 3 to; Otherwise forward step 4 to;
Step 3: the nearest benchmark high in the clouds of chosen distance from Candidate Set, read pseudo range difference information, and this information is sent to the common high in the clouds that the request difference is located, forward step 5 to;
Step 4: replying of " no difference information " sent in the common high in the clouds to request difference location, forwards step 5 to;
Step 5: System Control Center Updates Information: information submission time and current time data recording far away in the deleted data table, the newer differential data of submitting to of new record.
Further, in the above-mentioned steps, benchmark high in the clouds is the lift-launch Big Dipper GPS dual mode receiver that meets positioning accuracy request, and the data processing step in said benchmark high in the clouds is following:
Step 1: the Big Dipper receiver of Big Dipper GPS dual mode receiver and GPS receiver independently obtain positioning result separately;
Step 2: by Big Dipper receiver and GPS receiver observing matrix compute location geometric dilution of precision GDOP separately; As geometric dilution of precision GDOP during all less than setting threshold; Think that this high in the clouds bearing accuracy meets the requirements; Get the minimum positioning result of geometric dilution of precision GDOP and send to the common high in the clouds of request difference location, and forward step 3 to; When one of them geometric dilution of precision GDOP value of Big Dipper receiver and GPS receiver greater than setting threshold, another one geometric dilution of precision GDOP value during less than threshold value; Get geometric dilution of precision GDOP and send to the common high in the clouds of request difference location, return step 1 less than the positioning result of threshold value; As the geometric dilution of precision GDOP of Big Dipper receiver and GPS receiver during all greater than threshold value, this Big Dipper GPS dual mode receiver is regarded as and common high in the clouds;
Step 3: calculate the difference of Big Dipper positioning result and GPS positioning result,, then think this reception function, get into step 4, otherwise return step 1 as a reliable benchmark high in the clouds if less than setting threshold; In general, this setting threshold is made as 10M, is made as 2M among the present invention;
Step 4: the difference locator data is sent to System Control Center in benchmark high in the clouds, and this difference locator data comprises that positioning result, constellation information, pseudo range observed quantity, local receiver clock waft and submission time, return step 1.
Further, said common high in the clouds is the lift-launch Big Dipper GPS dual mode receiver that carries the single mode single frequency receiving or do not meet positioning accuracy request, and the data processing step in said common high in the clouds is following:
Step 1: carry the single mode single frequency receiving and obtain positioning result, and the Big Dipper receiver and the GPS receiver that do not meet the lift-launch Big Dipper GPS dual mode receiver of positioning accuracy request independently obtain positioning result separately;
Step 2: by observing matrix compute location geometric dilution of precision GDOP; As geometric dilution of precision GDOP during less than setting threshold; Think that this receiver self poisoning precision meets the requirements, positioning result is sent to the common high in the clouds that the request difference is located, return step 1; Otherwise submit the difference Location Request to System Control Center;
Step 3:, then return step 1 if System Control Center returns replying of " no difference information "; Otherwise receive the difference locator data, and adopt difference observation equation group to try to achieve the distance vector in this common high in the clouds and benchmark high in the clouds;
Step 4: utilize from the position in the benchmark high in the clouds that System Control Center is received and add the distance vector that step 3 is tried to achieve, obtain current exact position, send to the common high in the clouds of request difference location, return step 1.
As shown in Figure 1, a kind of Big Dipper GPS bimodulus cloud differential position system of using above-mentioned Big Dipper GPS bimodulus cloud difference localization method comprises:
Benchmark high in the clouds is made up of the lift-launch Big Dipper GPS dual mode receiver that meets positioning accuracy request,
Common high in the clouds, the lift-launch Big Dipper GPS dual mode receiver that is not perhaps met positioning accuracy request by lift-launch single mode single frequency receiving is formed,
System Control Center, the communicator that the data processor that comprises the data-carrier store of Memory Reference data, the reference data that receives is handled, control benchmark high in the clouds, common high in the clouds and System Control Center carry out communication,
Said System Control Center is set up data through communicator and benchmark high in the clouds and common high in the clouds and is got in touch.Said communicator realization high in the clouds user communicates by letter with System Control Center, adopts GPRS or 3G network communication, is responsible for receiving high in the clouds Location Request and data, sends data to high in the clouds.
Wherein System Control Center is the core of cloud differential system, and it is a communication control center, also is data storage and processing enter.System Control Center utilizes communicator and each high in the clouds to set up data and gets in touch; Preserve the difference information that submit in each benchmark high in the clouds; Respond common high in the clouds user's difference information request; From database, choose rational differential data, through modern wireless network (GPRS or 3G) difference information is sent to user high in the clouds simultaneously.
Benchmark high in the clouds is assessed the Big Dipper and GPS dual mode receiver bearing accuracy and checking each other automatically, and the high in the clouds that meets precision is regarded as a base station, and the difference information in this high in the clouds is submitted to System Control Center.When benchmark high in the clouds not can be considered a common high in the clouds user when the Big Dipper and GPS bearing accuracy do not meet the demands, to System Control Center request differential data to realize self accurate location.
The difference Location Request is sent to System Control Center in common high in the clouds when bearing accuracy is not enough, realize the difference location according to the differential data that the center is returned.
In typical a realization, above-mentioned communicator is the GPRS network communication module; In the typical realization of another one, above-mentioned communicator is the 3G network communication module.
In concrete the realization, the major database table of the data-carrier store of System Control Center designs as follows:
System Control Center is searched in the pseudo range difference information table so, and search condition is:
Benchmark high in the clouds location field: the starting point with search benchmark high in the clouds is the center of circle, and search radius is the high in the clouds record in the 10KM scope;
Information submission time field: the difference of search information submission time and current time is less than the record of network delay;
The pseudo range difference information field: searching for constellation comprises the benchmark high in the clouds of request high in the clouds constellation;
When finding the benchmark high in the clouds of satisfying above-mentioned three search conditions simultaneously, then with this benchmark high in the clouds as Candidate Set.Pseudo range difference information is read in the nearest benchmark high in the clouds of chosen distance from Candidate Set, and this information is sent to the common high in the clouds of request difference location.Common high in the clouds positions according to the information that receives.
Although specifically show and introduced the present invention in conjunction with preferred embodiment; But the those skilled in the art should be understood that; In the spirit and scope of the present invention that do not break away from appended claims and limited; Can make various variations to the present invention in form with on the details, be protection scope of the present invention.
Claims (8)
1. Big Dipper GPS bimodulus cloud difference localization method, it is characterized in that: may further comprise the steps: each benchmark high in the clouds provides reference data to System Control Center, and said benchmark high in the clouds is the lift-launch Big Dipper GPS dual mode receiver that meets positioning accuracy request; System Control Center carries out pre-service to the reference data of receiving; When common high in the clouds when bearing accuracy is not enough, send the difference Location Request to System Control Center, said common high in the clouds is the lift-launch Big Dipper GPS dual mode receiver that carries the single mode single frequency receiving or do not meet positioning accuracy request; System Control Center is chosen rational differential data, sends to common high in the clouds; This common high in the clouds positions according to the differential data that receives.
2. Big Dipper GPS bimodulus cloud difference localization method according to claim 1; It is characterized in that: when common high in the clouds when bearing accuracy is not enough; Send the difference Location Request to System Control Center; System Control Center is chosen rational differential data, sends to this common high in the clouds, specifically may further comprise the steps:
Step 1: when common high in the clouds when bearing accuracy is not enough, send the difference Location Request to System Control Center, System Control Center obtains asking the initial alignment position in the common high in the clouds of difference location, is labeled as the starting point in search benchmark high in the clouds;
Step 2: System Control Center is searched in the pseudo range difference information table, when finding the benchmark high in the clouds of satisfying all search conditions simultaneously, then with this benchmark high in the clouds as Candidate Set, forward step 3 to; Otherwise forward step 4 to;
Step 3: the nearest benchmark high in the clouds of chosen distance from Candidate Set, read pseudo range difference information, and this information is sent to the common high in the clouds that the request difference is located, forward step 5 to;
Step 4: replying of " no difference information " sent in the common high in the clouds to request difference location, forwards step 5 to;
Step 5: System Control Center Updates Information: information submission time and current time data recording far away in the deleted data table, the newer differential data of submitting to of new record.
3. Big Dipper GPS bimodulus cloud difference localization method according to claim 2; It is characterized in that: the search condition of step 2 is: for position, benchmark high in the clouds; The starting point in the search benchmark high in the clouds that obtains with step 1 is the center of circle, and search radius is the high in the clouds record in the 10KM scope; For the information submission time, the difference of search information submission time and current time is less than the record of network delay; For pseudo range difference information, searching for constellation comprises the benchmark high in the clouds of request high in the clouds constellation.
4. Big Dipper GPS bimodulus cloud difference localization method according to claim 1 and 2, it is characterized in that: benchmark high in the clouds is the lift-launch Big Dipper GPS dual mode receiver that meets positioning accuracy request, and the data processing step in said benchmark high in the clouds is following:
Step 1: the Big Dipper receiver of Big Dipper GPS dual mode receiver and GPS receiver independently obtain positioning result separately;
Step 2: by Big Dipper receiver and GPS receiver observing matrix compute location geometric dilution of precision GDOP separately; As geometric dilution of precision GDOP during all less than setting threshold; Think that this high in the clouds bearing accuracy meets the requirements; Get the minimum positioning result of geometric dilution of precision GDOP and send to the common high in the clouds of request difference location, and forward step 3 to; When one of them geometric dilution of precision GDOP value of Big Dipper receiver and GPS receiver greater than setting threshold, another one geometric dilution of precision GDOP value during less than threshold value; Get geometric dilution of precision GDOP and send to the common high in the clouds of request difference location, return step 1 less than the positioning result of threshold value; As the geometric dilution of precision GDOP of Big Dipper receiver and GPS receiver during all greater than threshold value, this Big Dipper GPS dual mode receiver is regarded as and common high in the clouds;
Step 3: calculate the difference of Big Dipper positioning result and GPS positioning result,, then think this reception function, get into step 4, otherwise return step 1 as a reliable benchmark high in the clouds if less than setting threshold;
Step 4: the difference locator data is sent to System Control Center in benchmark high in the clouds, and this difference locator data comprises that positioning result, constellation information, pseudo range observed quantity, local receiver clock waft and submission time, return step 1.
5. Big Dipper GPS bimodulus cloud difference localization method according to claim 4 is characterized in that: calculate the difference of Big Dipper positioning result and GPS positioning result in the step 3, its setting threshold is 10M.
6. Big Dipper GPS bimodulus cloud difference localization method according to claim 1 and 2; It is characterized in that: said common high in the clouds is the lift-launch Big Dipper GPS dual mode receiver that carries the single mode single frequency receiving or do not meet positioning accuracy request, and the data processing step in said common high in the clouds is following:
Step 1: carry the single mode single frequency receiving and obtain positioning result, and the Big Dipper receiver and the GPS receiver that do not meet the lift-launch Big Dipper GPS dual mode receiver of positioning accuracy request independently obtain positioning result separately;
Step 2: by observing matrix compute location geometric dilution of precision GDOP; As geometric dilution of precision GDOP during less than setting threshold; Think that this receiver self poisoning precision meets the requirements, positioning result is sent to the common high in the clouds that the request difference is located, return step 1; Otherwise submit the difference Location Request to System Control Center;
Step 3:, then return step 1 if System Control Center returns replying of " no difference information "; Otherwise receive the difference locator data, and adopt difference observation equation group to try to achieve the distance vector in this common high in the clouds and benchmark high in the clouds;
Step 4: utilize from the position in the benchmark high in the clouds that System Control Center is received and add the distance vector that step 3 is tried to achieve, obtain current exact position, send to the common high in the clouds of request difference location, return step 1.
7. a Big Dipper GPS bimodulus cloud differential position system of using above-mentioned Big Dipper GPS bimodulus cloud difference localization method is characterized in that, comprising:
Benchmark high in the clouds is made up of the lift-launch Big Dipper GPS dual mode receiver that meets positioning accuracy request,
Common high in the clouds, the lift-launch Big Dipper GPS dual mode receiver that is not perhaps met positioning accuracy request by lift-launch single mode single frequency receiving is formed,
System Control Center, the communicator that the data processor that comprises the data-carrier store of Memory Reference data, the reference data that receives is handled, control benchmark high in the clouds, common high in the clouds and System Control Center carry out communication,
Said System Control Center is set up data through communicator and benchmark high in the clouds and common high in the clouds and is got in touch.
8. Big Dipper GPS bimodulus cloud differential position system according to claim 7, it is characterized in that: said communicator is GPRS network communication module or 3G network communication module.
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